Polarized enhanced confidentiality

ABSTRACT

A system for selectively controlling visibility of information in an environment is provided. The system includes one or more polarized emissive screens and polarized non-emissive surfaces located within the work environment. The screens have a first direction of polarization and the surfaces have a direction of polarization substantially aligned with the first direction of polarization. Information displayed on the screens and surfaces are visible to a person inside the work environment. The work environment includes at least one window which permits viewing of the polarized emissive screens and non-emissive surfaces from outside of the work environment. A polarizing filter having a second direction of polarization arranged at an angle to the first direction of polarization is positioned proximate to the window. A person outside the work environment can see inside the environment through the window, but has an altered view of the information on the displays and surfaces.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of pending U.S. patent applicationSer. No. 14/173,989, which was filed on Feb. 6, 2014 and entitledPOLARIZED ENHANCED CONFIDENTIALITY IN MOBILE CAMERA APPLICATIONS, whichclaims priority to co-assigned provisional U.S. Provisional PatentApplication Ser. No. 61/761,391, filed Feb. 6, 2013, entitled ENHANCEDVIDEO CONFERENCING USING POLARIZED FILTERS; Ser. No. 61/875,199, filedSep. 9, 2013, entitled ROBOTIC TELEPRESENCE SYSTEM; Ser. No. 61/905,490,filed Nov. 18, 2013, entitled POLARIZED ENHANCED MOBILE APPLICATIONS;and Ser. No. 61/905,497, filed Nov. 18, 2013, entitled POLARIZEDENHANCED CONFIDENTIALITY IN ROBOTIC TELEPRESENCE, each of which areincorporated by reference herein.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

Not applicable.

BACKGROUND

The present invention relates to a conferencing system generally, andmore particularly to a mobile communication system with appliedpolarized filters and surfaces to control visibility of information orprovide augmentation of information in a viewing area.

Many businesses today are global and distribute work around the world.This requires companies to search for ways to stay connected, solveproblems, make decisions, and develop new ideas, while at the same timereduce travel and time costs. Various technologies are used to helpcompanies with this problem including teleconferencing, videoconferencing or telepresence, and web conferencing. However, experienceusing these technologies has been marred by problems such as poor sound,inappropriate lighting, distracting backgrounds and visual obstruction.

More recently, companies are using video conferencing or telepresence asan approach to solving the problem. Telepresence is a type of videoconferencing and refers to a combination of technologies which allowparticipants at two or more locations to feel and appear to be in thesame physical space. Video conferencing is gaining in significance anduse. It is common today for people to use high definition systems togain the feeling of being in the same room with the parties locatedphysically separate. Rooms and other areas are frequently dedicated toprovide a better experience when using the video conferencing equipment.

Using robotic telepresence, a person can interact through a roboticdevice with others at a distant location. Such a robotic telepresencesystem generally includes a robot and a controller through which therobot is operated, usually through a network typically located in aremote location or station. However, robotic telepresence has anunpredictable camera field of view due to its mobile nature.

A basic robotic telepresence system will facilitate video-conferencinginteraction between the person operating the robot from the remotelocation (a “driver” or “pilot”) and one or more persons co-located in aphysical environment with the robot. The basic system provides the robotand the pilot each with a speaker-microphone arrangement and a videodisplay-camera arrangement, so that the driver can interact audibly andvisually. In some circumstances, artifacts or information need to behidden from the pilot for security reasons. Existing robots in a robotictelepresence system are not configurable to achieve selective controlover the visibility of information accessible to a robot in the workenvironment.

Depending upon the configuration and capabilities of the station and therobotic device, the driver at the station experiences varying degrees of“presence” at the location of the robotic device. Persons co-locatedwith the robotic device may also perceive the effect of “presence” ofthe driver at the station. The quality of the audio-visual interchangebetween the driver and persons interacting with the robot is a productof multiple considerations including, but not limited to, the type,number and configuration of cameras, displays, microphones and speakerson the robot and at the station.

In a robotic telepresence system there are a number of considerationsand trade-offs primarily relating to the robotic device, including forexample, capability, performance, size, weight, maneuverability,mobility, flexibility, adaptability, controllability, autonomy,robustness, durability, power management, complexity and cost. Also,optimum configurations of a robotic telepresence system may vary betweendifferent work environments, including the remote pilot environment.

Existing robots in a robotic telepresence system may not be configurableto achieve an optimum balance of considerations for suitably effectiveuse in an office work environment. For example, a low-cost robot may notinclude suitable audio-visual capability to allow the pilot to functionproductively in meetings in an office environment. A robot having ahigh-end audio-visual capability may be too large or bulky for theenvironment, may lack mobility, or may cost more than is justified. Arobot loaded with capabilities to facilitate higher-quality interactionsfor the pilot also may be difficult to operate and control or maneuverin the environment and may require substantial power or resources tomaintain; such a robot may also be cost-inefficient for manyapplications.

In addition, the presence of one or more robots in a work environmentmay make people in the office work environment uncomfortable. Humans areaccustomed to dealing exclusively with humans and not with robotsfunctioning as mechanized representatives of humans. A robot that cannoteffectively express non-verbal, human-like communications is not able tocommunicate fully and effectively; but a robot that is very human-likemay make humans uncomfortable during interactions.

Uncontrolled light in the room can impair the experience for theindividuals at the remote end of the video conference. Typically,cameras used in video conferencing systems include an electronicallycontrolled, or “auto” iris lens which allows the lens to adjust tochanging light levels. Light or other distractions coming through thewindows can interfere with the auto iris lens of the camera resulting inparticipants appearing washed out or overly dark. Similarly, glare fromlamps, background or surrounding display screens or other visible itemsin the video conferencing environment can be distracting to a remoteviewer. Also in some circumstances, artifacts or information needs to behidden from a remote viewer for security reasons.

Polarizing filters are often used in photography to control theintensity of light and thereby reduce bright lights or glare to anacceptable level. In particular, the emerging light intensity from twooverlapping polarizers can be varied by rotation of the polarizers.Specifically, maximum light transmission occurs when the relative anglebetween the molecular orientations of two polarizing filters is zero.Likewise, minimum transmission occurs when the relative angle is ninetydegrees. However, polarizing filters have not been used in robotictelepresence systems.

A system for selectively reducing unwanted light, glare and otherdistractions in a video conferencing environment to enhance bothparticipant experience and technology performance is desired. Also, arobotic telepresence system which provides a robot that is bothfunctionally effective and comfortable for humans who will interact withthe robot in the work environment is desired. Further, a robotictelepresence system which provides selective control over the visibilityof information accessible to a robot in the work environment is desired.

SUMMARY

In one aspect, a system for controlling visibility of information in awork environment includes a robotic device connected to a network andhaving a camera, a pilot at a remote workspace, a user interface at astation configured to allow the pilot to operate the robotic device, aprimary polarizing filter adjustably attached to the camera, at leastone light source remote from the robotic device and at least onesecondary polarizing filter positioned between the at least one lightsource and the camera. The pilot interacts in the work environmentthrough the robotic device and shares privileges and permissions forinteractions in the work environment with the robotic device. Theprimary polarizing filter can be adjusted to selectively prevent orencourage transmission of specific images in the work environment to thepilot.

In another aspect, a system for selectively preventing visibility ofinformation in a work environment includes a robotic device having acamera which is connected to a network and configured to operate andinteract in the work environment, a pilot at a workspace remote from thework environment, a station providing a user interface configured toallow the pilot to operate the robotic device from the remote workspace,a primary polarizing filter adjustably attached to the camera, a lightsource remote from the robotic device, and a secondary polarizing filterpositioned between the at least one light source and the camera. Theinteraction of the pilot in the work environment is through the roboticdevice and the pilot and the robotic device share privileges andpermissions for interactions in the work environment. Information in thework environment is proximate the at least one light source and at leastone secondary polarizing filter. The network is configured to store thephysical location of information in the work environment and the primarypolarizing filter can be adjusted to prevent transmission of selectedinformation in the work environment to the pilot.

In yet another aspect, a system for controlling visibility ofinformation in a work environment includes a robotic device which isconnected to a network and includes a camera, a pilot at a remoteworkspace, a user interface at a station configured to allow the pilotto operate the robotic device, at least one person co-located with therobotic device, a primary polarizing filter adjustably attached to thecamera, at least one light source remote from the robotic device and atleast one secondary polarizing filter positioned between the at leastone light source and the camera. The pilot interacts in the workenvironment through the robotic device and shares privileges andpermissions for interactions in the work environment with the roboticdevice. A person co-located with the robotic device in the workenvironment can adjust the primary polarizing filter to selectivelyprevent transmission of information in the work environment to thepilot.

FIGURES

The foregoing and other items and advantages of the present inventionwill be appreciated more fully from the following figures, where likereference characters designate like features in which:

FIG. 1 is a schematic diagram of a robotic telepresence system asdescribed herein;

FIG. 2 is a schematic perspective view of a work environment includingrobotic devices for a robotic telepresence system;

FIG. 3 is a schematic diagram of a robot in a meeting room in a workenvironment;

FIG. 4 is a schematic diagram of a robot configuration in an unoccupiedstate;

FIG. 5 is a schematic diagram of a robot according to an exemplaryembodiment;

FIG. 6 is a schematic diagram of a robot configuration in an occupiedstate;

FIG. 7 is a composite schematic diagram of the robot in various statesof operation;

FIG. 8 is a composite schematic diagram of a robot configured in variousways to indicate the telepresence of a pilot by visual representation ordisplay of the pilot or to indicate the absence of a pilot by visualnotification or display;

FIGS. 9 and 10 are schematic diagrams showing audio-video correspondencebetween a robot in a work environment and a pilot at a pilot station;

FIGS. 11 and 12 are schematic diagrams showing directional audio-videocorrespondence between a robot in a work environment and a pilot at apilot station;

FIGS. 13-17 are schematic diagrams showing correspondence betweenoperation of a robot in a work environment and actions of a pilot at apilot station;

FIG. 18 is a schematic diagram showing a single pilot at a pilot stationwith robotic telepresence through multiple robots in operation atmultiple locations;

FIG. 19 is a schematic diagram showing multiple pilots at pilot stationswith robotic telepresence through a single robot in operation at asingle location;

FIG. 20 is a schematic diagram of robot in operation in task of usingprojection system for information in a work environment;

FIG. 21 is a schematic diagram of a robot in navigation through a workenvironment;

FIG. 22 is a top perspective view of a video conferencing environment ormeeting room according to an exemplary embodiment of the invention;

FIG. 22A is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 22, where a relativeangle between the molecular orientation of two polarizing filters iszero;

FIG. 22B is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 22, where a relativeangle between the molecular orientation of two polarizing filters isbetween zero and forty-five degrees;

FIG. 22C is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 22, where a relativeangle between the molecular orientation of two polarizing filters isbetween forty-five and ninety degrees;

FIG. 22D is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 22, where a relativeangle between the molecular orientation of two polarizing filters isninety degrees;

FIG. 23 is a top perspective view of a video conferencing environment ormeeting room according to another exemplary embodiment of the invention;

FIG. 23A is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 23, where a relativeangle between the molecular orientation of two polarizing filters iszero;

FIG. 23B is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 23, where a relativeangle between the molecular orientation of two polarizing filters isninety degrees;

FIG. 24 is a top perspective view of a video conferencing environment ormeeting room according to yet another exemplary embodiment of theinvention;

FIG. 24A is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 24, where a relativeangle between the molecular orientation of two polarizing filters iszero;

FIG. 24B is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 24, where a relativeangle between the molecular orientation of two polarizing filters isninety degrees;

FIG. 25 is a top perspective view of a video conferencing environment ormeeting room according to another exemplary embodiment of the invention;

FIG. 25A is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 25, where a relativeangle between the molecular orientation of two polarizing filters iszero;

FIG. 25B is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 25, where a relativeangle between the molecular orientation of two polarizing filters isninety degrees;

FIG. 26 is a top perspective view of a video conferencing environment ormeeting room according to another exemplary embodiment of the invention;

FIG. 26A is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 26 or 34, where arelative angle between the molecular orientation of a primary polarizingfilter and a left side secondary polarizing filter and a laptopsecondary polarizing filter is approximately zero and a relative anglebetween the molecular orientation of the primary polarizing filter and aright side secondary polarizing filter is approximately ninety degrees;

FIG. 26B is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 26 or 34, where arelative angle between the molecular orientation of a primary polarizingfilter and a left side secondary polarizing filter and a laptopsecondary polarizing filter is approximately ninety degrees and arelative angle between the molecular orientation of the primarypolarizing filter and a right side secondary polarizing filter isapproximately ninety degrees;

FIG. 26C is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 26 or 34, where arelative angle between the molecular orientation of a primary polarizingfilter and a left side secondary polarizing filter and a laptopsecondary polarizing filter is between forty-five and ninety degrees anda relative angle between the molecular orientation of the primarypolarizing filter and a right side secondary polarizing filter isbetween zero and forty-five degrees;

FIG. 26D is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 26 or 34, where arelative angle between the molecular orientation of a primary polarizingfilter and a left side secondary polarizing filter and a laptopsecondary polarizing filter is between zero and forty-five degrees and arelative angle between the molecular orientation of the primarypolarizing filter and a right side secondary polarizing filter isbetween forty-five and ninety degrees;

FIG. 27 is a top perspective view of a video conferencing environment ormeeting room according to yet another exemplary embodiment of theinvention;

FIG. 27A is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 27 or 33, where arelative angle between the molecular orientation of two polarizingfilters is approximately zero;

FIG. 27B is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 27 or 33, where arelative angle between the molecular orientations of two polarizingfilters is approximately ninety degrees;

FIG. 28 is a top perspective view of a video conferencing environment ormeeting room according to another exemplary embodiment of the invention;

FIG. 28A is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 28, where a relativeangle between the molecular orientation of two polarizing filters iszero;

FIG. 28B is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 28, where a relativeangle between the molecular orientation of two polarizing filters isninety degrees;

FIG. 29 is a top perspective view of a video conferencing environment ormeeting room according to another exemplary embodiment of the invention;

FIG. 29A is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 29, where a relativeangle between the molecular orientation of two polarizing filters iszero;

FIG. 29B is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 29, where a relativeangle between the molecular orientation of two polarizing filters isninety degrees;

FIG. 30 is a top perspective view of a video conferencing environment ormeeting room according to another exemplary embodiment of the invention;

FIG. 30A is a side perspective view of a portion of the videoconferencing environment or meeting room of FIG. 30, where a relativeangle between the molecular orientation of two polarizing filters iszero;

FIG. 30B is a split screen view of an information display provided by anaugmentation application after reading a matrix barcode similar to thebarcode illustrated in FIG. 30;

FIG. 31 is a side perspective view of a video conferencing environmentor meeting room according to another exemplary embodiment of theinvention;

FIG. 31A is a side perspective view of the video conferencingenvironment or meeting room of FIG. 31 as seen by a remote viewer, wherea relative angle between the molecular orientation of two polarizingfilters is zero;

FIG. 31B is a side perspective view of the video conferencingenvironment or meeting room of FIG. 31 as seen by a remote viewer, wherea relative angle between the molecular orientation of two polarizingfilters is ninety degrees;

FIG. 32 is a top perspective view of a robot in a meeting room includingpolarizing filters;

FIG. 33 is a top perspective view of a meeting room adjacent a separatearea in a work environment; and

FIG. 34 is a top perspective view of a meeting room including LCD or LEDdisplay screens having polarizing filters.

DESCRIPTION

According to various exemplary embodiments and generally illustrated inFIG. 1, a robotic telepresence system includes a robotic device or robot10 and a station 12 for an operator or pilot 14. The robot 10 and pilotstation 12 are connected over a network or series of networks. Thenetwork or series of networks may include the Internet. The robotictelepresence system permits the pilot 14 productive workplaceinteractions via the robot 10 operating on the network as if the pilotwas present in the work environment. The robot 10 is configured tooperate in a work environment such as an office building or otherfacility where people work and interact with each other to transactbusiness and perform tasks. The work environment typically includes oneor more spaces, such as offices and meeting rooms, as well as associatedhallways, entryways and other areas typically found in an officebuilding or the like. The robot 10 can be configured to operate in anyof a wide variety of types of environments, buildings and facilitiesincluding, but not limited to, presentation areas, studios, trainingfacilities, schools, education centers, laboratories, test centers,research and development facilities, retail spaces, and show rooms. Thepilot station 12 is typically located in a workspace such as a businessor home office remote from the work environment, but can be configuredfor use in a wide variety of spaces. The pilot station 12 is occupiedand used by a person who functions as the pilot 14 in remote operationof the robot. As discussed further herein, the pilot station 12 can beused by successive persons 16.

The robot 10 is connected to the network and configured to operate andinteract in the work environment either autonomously or at the directionof the pilot 14. Referring to FIG. 2, the robot 10 in the workenvironment interacts with people 16 about to enter one of severalmeeting rooms 18. A hallway 20 in the work environment has a number ofdoorways 22 with security access panels 24. Each security access panel24 controls entry into a meeting room 18. Information about the meetingor meeting room 18 is displayed outside of the doorway 22 on a displaypanel 26. The meeting room 18 may or may not have windows 28. The window28 may provide visibility to the outside or to an adjacent room 30 orhallway 20. The window 28 may also include polarized film. A person 16or robot 10 must present a badge or device at the security access panel24 to gain entry into the meeting room 18. Each robot 10 is configuredto be capable of moving and interacting with people 16 or other robots10 within the work environment under the direction of a control systemand/or at the direction of the pilot 14 located at the pilot station 12.

Referring to FIG. 3, one or more robots 10 may enter and presentthemselves into and at a meeting being conducted in a meeting room 18.Along with other persons 16 at the meeting, a robot 10 attending themeeting will assemble around a conference table 32 and be situated. Eachrobot 10 establishes a position at the table 32 adjacent to or acrossfrom persons 16 at the table as do others at the meeting. The robot 10is a mechanized representative of the pilot 14 at the pilot station 12remote from the work environment. Each robot 10, as illustrated in FIG.3, is occupied and under the operation and control of the pilot 14 at aremote pilot station 12. The pilots 14 may be at the same or differentremote locations A and B. The meeting room 18 is configured tofacilitate interaction and participation by any number of both people 16and robots 10.

The robot is an electro-mechanical machine capable of using existing,known or future-developed technology as a platform for its core systems.The robot form allows for comfortable and effective operation andrepresentation of the “presence” of the remote pilot at the location ofthe robot, appropriate and useful interaction by and through the robot,and safe and efficient movement of the robot within the environment orspace. The robot may take any of a number of different physical forms.These forms include human-like forms, such as anthropomorphic, androidand humanoid forms; vehicle-like forms having wheels or tracks; a hybridform having combined human and vehicle attributes; or another form, suchas a form resembling a four-legged animal or other structure.

As schematically shown in FIG. 4, the robot 10 typically includes a headportion 34, a torso portion 36 and a base portion 38. Referringspecifically to FIG. 5, the torso portion 36 of the robot 10 may includeshoulders 40 and arms 42 with “hands” 44 at each end of the arms. Theshoulders 40, arms 42 or hands 44 may include devices 46 which can bemanipulated. The head portion 34 of the robot 10 is configured tovisually indicate whether or not the robot is occupied by a pilot 14.For example, as shown in FIG. 4, when unoccupied the robot 10 maydisplay a standard “robotic face” 48 on a display screen 50 or device onthe head portion 34 and as indicated with robotic “eyes” 52, as shown.When occupied by the pilot 14, as indicated in FIG. 6, the head portion34 of the robot 10 may display the head or face 54 of the pilot. Forexample, the head portion 34 of the robot 10 can display the pilot'sface 54 through a real-time video feed of the pilot 14 at the pilotstation 12 or a photographic representation of the pilot from a storeddatabase or as presented by the pilot. The base portion 38 typicallyincludes a chassis supported by legs, wheels, rollers, track, or tread.The form of the robot 10 is adapted to the function or service to beperformed. In an alternative embodiment, the robot 10 includes only atorso portion 36 and a base portion 38. The pilot's head can beprojected as a holographic image above the torso portion 36. In yetanother embodiment, the robot 10 projects the pilot's image as aholographic image at a distance away from the robot.

As shown in FIG. 7, the robot 10 may alter its physical form orappearance during operation and use. For example, the robot 10 inposition A is in a retracted form representing a dormant or out ofservice state. The robot 10 in position B has an expanded form whichrepresents that the robot is occupied and in service. The robots 10 inpositions C and D are shown in a further expanded form with an extendedbase portion 38 and a neck 56, respectively, which may representoccupancy by different individual pilots. The robot 10 is capable ofadjusting its form to indicate its state or status to personsinteracting with the robot in the work environment. The indicators areaccording to protocols to ensure that persons interacting orencountering the robot are accepting of the physical form and not inquestion as to the state or status of the robot.

The robot 10 includes one or more of the following: a computing system,a control system, power or a power management system, actuators, motors,sensors, detectors and indicators, interfaces for networking andconnectivity to devices and systems. The robot may also include otherinstalled or interconnected systems, devices and peripherals. Thecomputing system may include multiple computers including a computerconfigured to manage the overall operation of the robot and processingof commands, data and information from the pilot station. According to apreferred embodiment, the computing system will include a computer andrelated systems with interconnections to devices and peripherals and toavailable networks, including, but not limited to, a local area network(LAN), a virtual private network (VPN), home, public, other externalnetworks, and the Internet. The control system is configured to operatethe actuators and motors of the robot as commanded. The power managementsystem typically includes a battery pack or a similar power storagedevice and a charging system for the battery pack. The power managementsystem may also include a controller. The power management controllermanages the state of health, use and charge of the battery pack. Thesensors and detectors may include motion detectors, microphones,cameras, switches, infrared detectors, and radio frequencyidentification (RFID). Suitable indicators include, but are not limitedto, information display devices such as display screens, monitors orpanels, audio speakers, indicator lights, signals, mechanical devicesand switches. The computing system is able to operate installed orconnected devices such as a printer, scanner, reader, projector, networkinterface, storage, additional audio-visual devices, input/outputdevices or panels, supplemental instrumentation, supplemental detectors,auxiliary power and battery packs. The robot for a given environment mayhave a standard configuration and then be designed to allow modularinterchangeability of components and devices forconfiguration/reconfiguration for specific and particular purposes.

The robot 10 is connected to a network and is configured to operate andinteract in the work environment either autonomously or at the directionof a pilot. The network may include a wireless network by which data andinformation including command or control instructions andstation-keeping are transmitted to and received by the robot incommunication with one or more computing or network devices. Whenoperated at the direction of a pilot, the robot is controlled throughthe pilot station, which is connected to a network and provides a userinterface. The user interface includes information and controls whichallow the pilot to operate the robot if required or desired. Over anetwork connection and through robotic telepresence via the robot, thepilot engages in interactions in the work environment as if the pilot isin the work environment.

Referring to FIG. 6, the robot 10 is shown in schematic form having acontrol panel 58 and an installed device or devices 60. The controlpanel 58 for the robot may provide a video display 62, an input panel64, one or more cameras 66, one or more microphones 68 and speakers 70as well as other indicator lights and the like. Preferably, the camera66 includes an electronically controlled iris lens and zoomcapabilities. At the control panel 58, persons in the work environmentare able to interact and obtain information from the robot as to therobot status, loads, scheduling and condition. The robot status 72 isindicated on the control panel 58. The status 72 can include whether therobot is occupied; dormant; available for use; available for scheduling;next and future scheduled uses; past, present, future scheduled pilots;status of monitoring or activity; and tracking or other stored andavailable data. Other conditions of the robot such as the state ofcharge of the battery 74 are also indicated at the control panel 58. Thecontrol panel provides a convenient means for persons interacting withthe robot in the work environment to determine the state and conditionof the robot and to obtain information used to assign the robottemporary or other tasks and functions. These control panel functions,displays and output indicators can also be distributed on the robotitself to facilitate information availability and relevance.

Referring still to FIG. 6, the robot 10 may have one or more “onboard”devices 60 that provide enhanced functionality and capability foroperation of the robot in the work environment. According to anexemplary embodiment, different robots can be equipped with differentfunctionality within a fleet of robots or may all be the same.Functionality and capabilities for each robot are provided throughinstallation or interchange of devices; modules or components that areremoved in a plug-and-play manner or maybe more permanently installed inthe robot. Example functionalities and components may include: (a)networking, such as providing an access port for WI-FI®, BLUETOOTH® orother wireless transceiver capability; (b) presenting audio-visualsignals through video display or projection and audio speakers; (c)capturing or recording audio-visual signals through a camera, a cameraarray, a microphone, a microphone array or other sensors; (d) storingand presenting information and data for use in functions, interactions,presentations, postings, and events, as well as local onboard storage ofinformation relating to past, present and future pilot occupants of therobot; (e) document management capabilities such as the ability toprint, scan and hold documents; and (f) security monitoring anddetection capability, for example, to monitor persons in the workspaceor to obtain access into restricted access areas in a workspace. Therobot is provided with any of a wide variety of functionalities andcapabilities in a particular work environment.

Referring again to FIG. 6, the robot 10 is provided with one or moredevices 60 such a printer and scanner for document management as well asdocument storage or repository functionality. The robot can scan andprint a document, or simply print a document accessed from localstorage, network storage, cloud computing resources or other sources.The robot can also serve as a repository of the paper document. Forexample, a robot is assigned the task of obtaining signatures of personsfor a particular project or matter by having installed a printer andscanner. The robot is then sent to various persons in the workenvironment; a document is printed for review; the document is reviewed,signed and then scanned and stored in the robot or transmitted back overthe network for storage and use. The robot may also hold a repositoryfor the printed paper copy of documents that are used within the purposeof the robot. The robot then goes from person to person to obtain thenecessary signatures and signoffs and returns to a designated finallocation to upload the documents upon completion of the designated task.

The robot 10 may also include one or more display panels or whiteboardsthat allow marking and recordation of information. The robot can beconfigured to capture and record information documented on whiteboardsin the workspace or other tools to allow recording and transcription ofmeeting and special event information. The robot may have audio-visualcapabilities including microphones 68 and speakers 70, video cameras 66and displays 62. The robot 10 may also have installed network storagecapability or connectivity to other storage such as cloud-based storageof data and information. A robot is configured to perform tasks and toprovide services and capabilities for the pilot and persons in the workenvironment to improve workplace efficiency and productivity.

A robot 10 can be assigned other tasks of a similar type such asfunctioning as a messenger or reminder service for persons in a facilityto complete a particular task, attend a particular meeting or event. Arobot that incidentally encounters a person for whom a message isintended or beneficial may upon detection of the person, pause andinteract with the person to relay the message or information and recordand download or upload as is required information to be exchanged withthe person in the interaction.

The pilot 14 operates the robot 10 from a pilot station 12. The pilotstation 12 as described herein is not limited to any particularstructure, equipment or location. The pilot station 12 is configuredwith a set of display monitors and speakers corresponding to an array ofcameras and microphones on the robot. The pilot station 12 is alsoconfigured with an array of cameras and microphones connected to thecomputing device and network for recording and transmitting the visualimages and sounds of the pilot 14. The pilot station 12 may have one ormore other spatial detectors such as monitor detectors or cameradetectors operating in a manner similar to a KINECT® device for aMICROSOFT XBOX 360®. According to an alternative embodiment, the pilotstation 12 is implemented as an application running on a mobile devicesuch as a portable computer, tablet computer, tablet phone, tablet,smartphone or other computing device. The functionality of the robot 10when under the operation of the pilot 14 is determined in part by thecapabilities of the computing device at the pilot station 12.

As shown in FIG. 8, a pilot 14 in operation of a robot 10 can berepresented visually on one or more display screens or panels 50 on therobot. Alternatively, the pilot 14 can be visually represented on atransparent display. To facilitate effective interactions betweenpersons in the work environment and the pilot 14 through the robot 10,the robot can indicate the identity of the pilot. The visual indicationof the pilot 14 occupying the robot 10 should be perceptible to personsin the work environment co-located with the robot within a substantiallywide field of view. In particular, the visual indication of the pilot 14should be visually perceptible within a 270 to 360 degree field of view.For example, the robot 10 shown in Position A has a flat display panel50 for the pilot face with signage 76 that is visible from a broad rangeof positions. The signage 76 can be physical or holographic. A set ofmultiple flat display panels 50 (Position B) or a cylindrical or curveddisplay screen 50 (Position C) can give visibility of the pilot 14 orrobotic face 48 display to a broader range of viewing. Alternatively, arotating flat panel display 50 (Position D) can be used to sweep in onedirection or the other for similar visibility. Visual representation ofan “unoccupied” state when the robot 10 is not under the operation of apilot can be presented by a robot in a variety of different forms, suchas shown in Position E, for example.

At the user interface within the pilot station, video cameras may obtainimages of the pilot which correspond to the display screens 50 presentedon the robot 10. However, the pilot 14 can control the number andvantage point of the video cameras in the pilot station 12. The numberof cameras used at the pilot station may correspond to the number ofdisplay screens presented on the robot so that the field of view of thepilot 14 (e.g. viewed in real time) is transmitted to the robot in thework environment in a corresponding manner. The pilot can be displayedas a combination of real time video transmission and photographic imagesor other stored display data. The robot is able to readily display theidentity of the pilot when in the “occupied” state and can use aprojected “robotic face” 48 as shown in FIG. 4 or project the word“vacant” or other symbol to readily indicate by display that the robotis in the “unoccupied” state.

The pilot station 12 is configured to present audio-visual informationgenerally as perceived by the robot. See, for example, FIGS. 9 (robotview) and 10 (pilot view). According to a preferred embodiment, theinteraction includes a display 78 for the pilot 14 at the pilot station12 of information 80 obtained through the robot 10 in real time in thework environment. The pilot station 12 is configured to provideaugmented information in audio form as well. As shown in FIGS. 11 and12, a pilot station may include a cockpit 82 which is configured for an“immersive” experience for the pilot 14 when combined with a robot 10configured to provide an “immersive” experience using directional videoand directional audio. The cockpit 82 conveys a life-like experience ofpresence in the work environment to the pilot through the robot. Thecockpit need not include a physical structure and may instead includesystems which provide surround sound and video surround.

The pilot station may include multiple display monitors, video screensand multiple speakers which correspond to an arrangement of videocameras and microphones on the robot such that the pilot perceivesco-location with the robot transmitting the audio-visual information tothe pilot station. As the robot 10 interacts with persons, the pilot isable to look around in a wide field of view and to perceive sounds in awide range, approaching 360 degree scope. The communication in the pilotstation provides an indication of direction from the robot in the workenvironment. The display and speakers in the cockpit are generallyrepresentative of the configuration of cameras, microphones and othersensors and detectors of the robot.

The robotic telepresence system is configured to transmit audio-visualdata that can be presented on the robot to other devices and systems inthe work environment, such as video conferencing equipment, displayscreens, computers, computing devices, tablets, and smart phones. Inthis manner, telepresence of the pilot in the work environment maycontinue to some extent in a manner similar to a conventional videoand/or audio conference call even if the robot is disabled or redeployedfor other use in the work environment and no longer can be used by thepilot.

Referring to FIG. 13, the pilot station 12 may also have one or moredevices operating as a remote controller for the robot. Suitable remotecontroller devices include, but are not limited to, a joystick, amulti-function console controller similar to those used for conventionalgaming or for robot control, an actuator, and a treadmill-operatedcontroller 84. In an exemplary embodiment, the remote controller deviceincludes a treadmill-operated controller 84 where the faster the pilot14 walks, the faster the robot 10 moves. Suitable treadmills include theWALKSTATION™ sold by Steelcase Inc. or an omnidirectional treadmill.

When the robot is occupied by the pilot, the robot can express and mimicemotions, gestures and movements of the pilot as detected at the pilotstation. The robot may use the actual voice of the pilot, project thereal-time image of the pilot on a display monitor, track physicalmovements of the pilot, and exhibit gestures and facial expressions ofthe pilot. The physical form of the robot, with a torso portion havingarms and a head portion having a face can be configured with thecapability to move and express a set of gestures and actions as modeledby the pilot in real time. A robot having a more human-like form is ableto express human-like gestures, such as nodding head portion, shakingtorso portion, shrugging shoulders, turned up palms, and pointingfingers, which can be utilized to generate accepted physical cues toimprove communication and thereby enhance the quality and comfort ofinteractions between persons and the robot. The robot may have a set ofbehaviors which conform to local customs, culture or practices and aretuned to social reference data for the particular environment.

For example, as illustrated in FIGS. 13-17, the robot 10 may express aset of movements, gestures, and expressions based on the movements,gestures and expressions of the pilot 14 at the pilot station 12. Thepilot's movement, gestures and expressions are correlated generally, ifnot correlated exactly. For example, under the direction of a pilot 14at a pilot station 12 including a treadmill-operated controller 84 and acamera 86 or detector (see FIG. 13), a robot 10 in a work environment isin one of multiple corresponding states as the pilot directs: when thepilot is not operating the robot, the robot is dormant (see FIG. 14);when the pilot takes operation and occupancy of the robot, the robotactivates (see FIG. 15); as the pilot walks on the treadmill 84, therobot navigates around the work environment (see FIG. 16); and as thepilot turns to one side, the robot turns to one side (see FIG. 17). Therobot will exhibit human-like behaviors on behalf of the pilot thatenhance the sense of “presence” of the pilot in the work environment.

The robot can also be configured to present non-verbal communications topersons in the work environment. In particular, the robot is configuredto demonstrate facial expressions of a pilot. The robot may have a“face” that can display facial expressions, such as a smile, frown andscowl. Alternatively, the robot may have a video monitor that displaysin real time the face 54 of a pilot 14 when occupied (see FIG. 6) or ifnot occupied, a “generic” face, such as a robotic face 48 (see FIG. 4),intended to indicate the absence of a pilot.

Interactions between a pilot via the robot and persons in a workenvironment are either: (1) scheduled and formal; (2) incidental andinformal; or (3) serendipitous, such as an informal contact made througha formal meeting. Interactions typically involve the interchange ofinformation between the pilot and the work environment. The capabilityof the pilot to interact with persons through the robot is determined bythe capabilities made available to the pilot at the station and userinterface. Interactions involve the exchange of information between thepilot and robot and possibly from other sources, such asnetwork-connected devices and storage. The robot is configured totransmit and receive a wide variety of types of information forinteractions. At the robot, information is transmitted by audio signal,video display, audio-video message, physical movement, gesturesexpressed by a robot arm or torso, facial expression such as expressedby a face on the robot or an actual face or representative image displayon a monitor, indicator light, display panel, text indication, andprinted or projected document. At the robot, information is received byaudio signal, video display, audio-video message, text, deviceinput/output, work environment input/output, printed or projecteddocument, scanned document or image, and interpretation of expression orgesture.

A robot or fleet of robots at a work environment preferably is managedby a robot scheduling system. The robot scheduling system may operate inconjunction with and in a manner generally similar to the commercialROOMWIZARD® systems sold by Steelcase Inc. Preferably, the robotictelepresence system can be integrated with room scheduling systems andcan present and provide a similar user interface for persons andprospective pilots or occupants of the robot. The robot schedulingsystem allows scheduling robots in a fleet for use and operation in amanner that facilitates efficient resource planning and use. Forexample, only certain categories and classes of persons are givenpermission to access the scheduling system and the robot over a networkfrom a remote workspace to schedule use of the robot. A display panel onthe robot facilitates the exchange of status, use, scheduling or otherrelated information to persons in the work environment as part of thenetwork-based scheduling system. Information made available to persons,in real time or on request, can facilitate the management, use anddeployment of robots within the work environment. For example, a displaypanel on the robot may indicate the daily schedule for the robot. Thisallows persons in a meeting where the robot is currently present toaccess the schedules of meeting participants. According to aparticularly preferred embodiment of integrated room and robotscheduling systems, a person or pilot is able to use the integratedsystems to schedule both a meeting room and robot according to needs formeetings and events.

An augmented data channel may provide enhanced information relating tovarious subjects for the pilot and other persons having access to thedata channel. The user interface for the pilot at the pilot stationprovides or makes available additional information from the augmenteddata channel to facilitate the use and function of the robot. The userinterface also enhances the ability of the pilot to participate andinteract through the robot in the work environment. Information on theaugmented digital channel can be regularly and routinely updatedautomatically and manually and supplemented as needed both for pilotsand persons in the work environment. Such information can be stored andshared though a database accessible over the network.

The augmented data channel includes a database which is accessible tothe pilot, pilot station and the robot over the network. The datachannel may also be available to persons who interact with the robot inthe work environment through a video display on the robot or over anetwork. The data channel facilitates uploading, downloading andsupplementation of data to and from the pilot during an interaction ofthe robot in the work environment. Information on the data channel mayinclude; (1) information about the work environment, such as maps,office locations, directories and staffing; (2) people in the workenvironment, such as names, spelling and pronunciation, reportingstructure, projects, support, and social media; (3) topical information,such as access to research databases; (4) project-based informationwhich is stored and accessible to the network; (5) meeting or eventinformation; and (6) other types of information. A pilot may in advanceof a meeting or other interaction obtain and locate information and keepor store the information for use in an anticipated interaction throughthe robot. The data channel may include information autonomouslyobtained on behalf of the pilot in advance of an interaction tofacilitate an anticipated interaction of the pilot through the robot.The display of information from the augmented data channel available atthe pilot station is shown in the form of text or other contentappearing on a video display along with an associated person or object.The pilot station is configured to display information from theaugmented data channel as an overlay to other displayed information atthe station obtained from the robot. See, for example, FIGS. 9 (robotview) and 10 (augmented pilot view).

Operation of the robot 10 by a pilot 14 includes the robot taking on oradopting the “persona” of the pilot by virtue of data and informationprovided or uploaded to the robot from the network database. The robotis able to express the identity of the pilot and to assume a personawhich is representative of the pilot and perceptible to persons in thework environment. The ability of the robot to conduct interactions ispartly enabled by preferences and privileges of the pilot that the robotshares with the pilot. The network connects to a database wherepreferences and privileges of the pilot are stored and can be accessedfor downloading to the robot. The privileges include a set ofpermissions allowing access to space and information in the workenvironment; the system shares the permissions of the pilot so that therobot can access spaces in the work environment as a representative ofthe pilot when under the control of the pilot.

Each person who may function as a pilot stores data which can beaccessed and used by the robot when occupied by the person as pilot; therobot operates accordingly and differently for each pilot, dependingupon the preferences of settings established by the pilot. The robot mayalso display a different appearance and use different sounds or voicedepending upon the pilot. The robot is able to express the identity ofthe pilot and to assume a persona which is representative of the pilotand perceptible to persons in the work environment.

The robot is configured to present a first set of behaviors when underthe control of a first pilot, a second set of behaviors when notoccupied by a pilot, and a third set of behaviors when under the controlof another pilot. The first and third set of behaviors would becommunicated through the occupied robot during interactions in the workenvironment by the respective pilot. The exhibited behaviors of anoccupied robot may include a display of a real-time video transmissionfrom a video camera in the pilot station; audio communications inreal-time is transmitted to and through the robot from the pilot. Avideo transmission would be able to convey facial expressions and tosome extent other physical movement and gestures by video display at therobot. The behaviors would be under the control of the pilots andgenerally constrained by physical limitations of the robot and thecontroller used by the pilot at the station, such as sensors, detectors,joystick, multi-controller, treadmill and the like. Network connectivitymay also reduce response time between the pilot and robot to someextent. The second set of behaviors includes a physical indication thatthe robot is not occupied by a pilot. The physical indication mayinclude a signal, sign, or a reduced set of gestures including limitedmotions, limited range of motions, and speed of motion understood toindicate that the robot is operating autonomously and not presentlyoccupied by a pilot. The robot is thus configured to interactproductively through a combination of audio and visual communicationswithin the work environment regardless of whether under the control of apilot.

According to a particularly preferred embodiment, the pilot station isable to detect when a pilot in operation of a robot has temporarilymoved away from the station while in operational control of the robot.Detection is made by a video camera or motion detector, an infraredsensor, or some other type of sensor or detector. When the userinterface detects that the pilot is present at the station, the robotmaintains an active state of operation in the work environment; when theuser interface at the station detects that the pilot is not present atthe station the robot is put in a suspended state of operation at thework environment. The suspended state of operation may includeindicators presented at the robot, for example, a message is transmittedby the robot or indicator lights. Persons encountering the robot in thework environment perceive that the robot is in a suspended state butoccupied by a pilot; such persons can conduct limited interactions withthe robot and await the return of the pilot to the station and the robotto the active mode of operation or can leave a message with the robot.The behavior that the robot exhibits in the suspended state isautonomous but within a restricted set of behaviors for an unoccupiedrobot in the work environment. In a particular work environment, aparticular protocol of rules and restrictions for unoccupied robotbehavior is established consistent with the needs and preferences of thefacility and affected persons. For example, at one work environment, therobot is configured to record audio-visual signals on behalf of thepilot when in a suspended state; at another work environment, the robotmay play a recorded audio-visual message. According to an alternativeembodiment, a robot is more fully disabled when in a suspended state.When the pilot is detected at the user interface in the station therobot resumes an active state.

The robot is configured for operation by two pilots in succession,passing from and operation state with a first pilot to a transitionstate with no pilot indicated to an operation state with a second pilot.When the first pilot in operation of the robot exits as pilot of therobot at a pilot station, the robot is in a transition state and notoccupied by a pilot. The transition state is maintained by the robot fora predetermined period of time before the robot can resume an operationstate for the second pilot. When in the transition state, the robot willhave a restricted set of movements which are not as expansive orexpressive as the movements that a pilot can express through the robot.The robot may indicate entering the transition state of the robot by apause of movement. The transition state of the robot can be indicated inthe work environment by a visual signal, an audio signal, anaudio-visual signal, indicator lights, or the like so persons co-locatedwith the robot realize that the robot is not occupied by a pilot and arenot made uncomfortable. In the transition state, data can beinterchanged by the robot and by the pilot at the station. The data isstored in a network-accessible database for future use. When the secondpilot assumes control of the robot, the robot returns to an operationstate.

A purpose of the transition state is to prepare co-located persons inthe work environment for the passing of a robot from one pilot toanother and to allow data interchange to and from the robot for thesuccessive pilots. When the second pilot obtains operational control ofthe robot, that pilot will operate the robot according to thecapabilities of the user interface at the station where that pilot islocated. One pilot may have a more full-featured user interface andpilot station than another pilot and may therefore be able to utilizemore robot capabilities. When in operational control of the robot, theuser interface of the pilot, such as the input/output devices, audiodevices, video devices, field of vision, sensors and detectors, dictatesthe manner in which the pilot will be allowed to conduct interactionsthrough the robot in a particular work environment.

Referring to FIG. 18, according to a particularly preferred embodiment,one pilot 14 can occupy and operate multiple robots 10 a, 10 b and 10 c.For example, a pilot may want to simultaneously provide a singlepresentation through multiple robots to audiences at multiple locations.The pilot may control the audio-video communications through the robotswhile a local pilot is available to coordinate local operation of therobot at each work environment.

Referring to FIG. 19, multiple pilots 14 a, 14 b and 14 c at one or morelocations A, B and C may simultaneously occupy one robot 10. One or moreof the pilots may have a different user interface at their pilot stationand therefore possess different capabilities to manage and controlinteractions. Some of the pilots may have minor operational control ofthe robot while one of the pilots has full control of the robot. Onepilot may communicate audio-visual information freely while theremaining pilots are restricted or muted and require permission from thelead pilot to contribute. The robot may display in a multi-segmentdisplay 88 each pilot, which may reflect a varied size display area toindicate who is primarily in control of the robot and who has a morelimited role. According to any preferred embodiment, the robotictelepresence system can be configured as needed to facilitate amulti-robot/single pilot interaction as illustrated in FIG. 18 or amulti-pilot/single robot interaction as illustrated in FIG. 19 in thework environment.

The robot can be provided with peripheral devices which enhance thecapabilities and usefulness of the robot 10 in the work environment,including capabilities relating to the exchange of information.Referring to FIG. 20, the robot is provided with a projector 90 fordisplaying data or information on a large- or small-scale. The robot iscapable of both multi-person and individual person interactions wherethe display by projection of information on a surface 92 wouldfacilitate or enhance the interaction. A robot 10 may include a wirelesshub to allow it to transmit and receive as a node or access point. Thewireless hub provides wireless access to one or more networks by and onbehalf of persons in the proximity of the robot.

The robot is provided with enhanced capabilities to facilitateproductivity in the work environment. Enhanced device capability such asholographic projection and augmented data can be implemented inparticular robots given higher-level duties within the work environmentand deployed on a more selective basis according to special needs andcapabilities for meetings and events. Higher capability robots may begiven different physical attributes to indicate their differentialstatus within the work environment.

As shown in FIG. 21, the robot may include indicators that servefunctional purposes according to a protocol established for the workenvironment. Such indicators may include indicator lights, speakers,projecting displays or light beams. For example, a robot may have a lamp94 that projects a light beam 96 on the floor to display a navigationalicon 98 to indicate navigational intent to nearby persons 16 and robots10 as the robot passes through the work environment. Navigational intentmay also be communicated by an audio signal that the robot projects topersons in passing. For robots having moveable elements, navigationalintent may be indicated by physical indication including, but notlimited to, pointing, leaning and turning.

The robotic telepresence system also provides capabilities forperforming additional functions through the robot to enhance a meetingand related activity after the meeting. For example, the robot isequipped with a session capture capability so that the audio and videoinformation during the meeting can be recorded by the robot. The robotmay provide a data display capability either on a control panel or videodisplay or by projection onto a surface to present data and informationor audio-visual content to persons in the meeting either at thedirection of the pilot or at the request or direction of persons in themeeting. The robot may operate as a network access point or a convenientmeans for data transmission that can be used by persons in the meetingroom. The robot may through an augmented data channel allow the pilot ormeeting participants access to additional information relevant to topicsrelating to the meeting or the like. At the end of the meeting the robotmay perform “clean up” tasks for persons in the meeting by scanning ortaking photographs of meeting notes or whiteboard drawings or otherarticles and objects used during the meeting. Persons in the room or thepilot may alert the robot to the physical location of the meeting notes,whiteboard drawings, or other articles and objects. Alternatively, thephysical location may be identified by a barcode, RFID or otherelectronic trigger affixed to or embedded in equipment or fixtures inthe work environment. Data and information recorded by the robot duringthe meeting is saved and stored as a data file or in a network-storedfolder which can be accessed and used by others after the meeting. Therobot may also compile a list of tasks or actions assigned to personsduring the meeting and may transmit follow-up reminders or the like tothe persons who after attending the meeting have further tasks orobligations on behalf of the meeting group. The robot will not onlyallow the pilot to participate fully in the meeting but will alsoprovide additional functionality of benefit to the pilot and othermeeting participants.

Certain robots can be designated for primary use in certain areas of thefacility to maintain a balance of the fleet of robots across the entirefacility. Special capability robots may also be designated for use andproper utilization. For example, robots with such capabilities as videoprojection, document printing, audio-visual recording, enhancedaudio-visual display and augmented data channel can be designated anddeployed efficiently within the fleet to ensure proper utilization ofrobots matching their capabilities to the needs for a particularmeeting, event or purpose. The robotic telepresence system may alsoprovide scheduled time or routines for transitions and dataupload/download for pilots between occupancy. Unoccupied robot observersare deployed in the work environment for special purposes such asrecording audio-visual information for meetings and special events,inventorying equipment in the work environment and identifying anyassociated structural or performance issues using RFID technology, andcommunicating with work environment technology such as motion detectorsto collect information and perform diagnostics. Unoccupied robotobservers can also be used to process cued serendipitous requests. Forexample, a first employee, Person A, may need to contact a secondemployee, Person B. Person A issues a request for all unoccupied robotsto search for Person B. When a robot locates Person B, the robotnotifies Person A and initiates contact between Person A and B. The cuedserendipitous request is then cancelled.

The work environment can be adapted for the presence of robots. Forexample, workspaces, offices, meeting rooms, hallways, common areas andentryways can be adapted to facilitate interactions and movement ofrobots in the work environment with efficiency and minimal disruption ofpersons in the work environment. Dedicated pathways for robots can bedesignated and demarcated. Pathway demarcation may be accomplished usinglines or other markings such as radio frequency or infrared “invisiblefence” technology in hallways. Rest areas can be established for robotsat various places within the work environment. Buffer zones or no-entryzones for robots can also be established. Charging stations can beprovided in designated locations within the work environment. Furnitureand work stations can also be adapted for the presence of robots.Hallways and rooms can be provided with projection surfaces to allowrobot interactions at various points between and in stations and spacesin the work environment. Room entry, security keypads, access panels anddoor hardware can be modified for ease of entry and accessibility torobots. To facilitate robot mobility, hallways and other pathways can beprovided with ramps rather than stairs or steps. The work environmentmay also include utility or service entryways and passages or specialelevators for robots. In meeting rooms and at conference tables andother office furniture, designated seating or docking and potentiallycharging areas for robots can be installed. To facilitate management ofa fleet of robots, racks or a storage and maintenance area out of theway of persons in the workspace can be established in the workenvironment.

Referring to FIG. 2, access to a meeting room 18 is gained by aconventional employee access badge system. The meeting room 18 has ascheduling system indicated by a display panel 26, such as used by theknown ROOMWIZARD® system commercially available from Steelcase Inc.Restricted access in the work environment, for example, into the meetingroom 18, can be established using conventional technology such as“invisible fencing,” as shown at the floor in dashed lines 100.According to an exemplary embodiment, the range of access or movement ofthe robot in the work environment can be controlled using conventionalsecurity or access restriction technology. The robot 10 approaches asecured area in the work environment, such as a meeting room 18, and ifthe robot encounters an electronic barrier or other type of indicator ofrestricted access, such as a light beam or electrical signal, the robotstops moving and will not enter the space. The restricted accessindicators can be configured so that they are detectable primarily onlyby robots and do not provide any encumbrance to people in the workenvironment. If the robot is authorized for access into a restrictedarea, the robot is able to move across the barrier into the space orroom and conduct its business.

Preferably, a protocol for robot conduct and right of way in passingother robots and persons in the work environment is established.Personnel in the work environment are trained on best practices forinteracting with robots. Personnel may also be trained on procedures fordiagnosing problems or performing maintenance on robots. For example,personnel can be trained on how to assist a robot in need of a batterycharge, to turn on or off a disabled robot, to locate a robot, and tointeract with a robot to determine its destination or current status.

Robots are deployed into service with a duty and maintenance cycle toensure up-time and reduce maintenance issues for robots in service. Timeof day homing instructions can be programmed into the robots as part ofa protocol for robot management which is communicated to persons in thework environment. Multi-purpose robots can be deployed into service inthe work environment. Multi-purpose robots combine designatedinteractions on behalf of pilots with other tasks, such as workenvironment monitoring and security, equipment and facility inspections,light cleaning of floors or other surfaces, and the like. The robot andwork environment can be adapted for efficient service of the robots fortheir designated purposes.

Example Implementation of a Robotic Telepresence System:

A typical day of use of a robot used in the robotic telepresence systemcan be described to illustrate by example the operation and capabilitiesof the system. As noted earlier, the robotic telepresence system allowsthe pilot to participate through a representative robot in aninteraction such as a conventional workplace meeting. The robotinteracts on behalf of the person in a manner representative of theperson as if the person was in attendance at the meeting. The pilot usesthe robot to interact and perform general functions with personsdirectly attending the meeting. In this example implementation, therobot operates in a work environment located in a large office buildingcomplex having multiple floors and hundreds of employees.

The robot begins its day in a charging station in a fleet managementarea of the work environment.

Through a robot scheduling system a person intending to be a pilot isable to review available robots in the fleet and select one robot foruse according to availability and capability for the tasks andactivities intended on behalf of the pilot in the work environment. Thefleet includes over fifty total robots. The majority of the robots havea generally identical base configuration; however, some of the robotshave differing capabilities due to differences in their physical formand their installed peripheral devices. A first pilot has selected andscheduled the robot to participate in a full morning meeting asrepresentative of that pilot. A second pilot has scheduled the robot toparticipate in an early afternoon meeting as representative of thatpilot. Two other pilots have jointly scheduled to have the robot presenta training session to a group in the late afternoon. Each pilot islocated at a station at a remote location from the work environment. Thepilot stations each include a user interface through which the pilot canoperate and control the robot and can receive audio-visual informationand other data from the robot during operation.

The pilot stations used by the four pilots have differing capabilitieswhich alter the capabilities and interactions of the pilot through therobot in the work environment. Each station includes at least acomputing device with video conferencing equipment and a controller.

A pilot may perform certain technical checks in anticipation of themeeting and may also upload data to the robot intended for use at themeeting. A few minutes before the meeting begins, the first pilot takesover operation of the robot and becomes the occupant of the robot. Whenthe pilot occupies the robot, data and information relating to the pilotis transmitted from a database over the network to the robot. The robotassumes the identity of the pilot insofar as the robot will communicatein a voice that mimics the voice of the pilot and will assume a heightwhich generally matches the pilot. The robot also obtains privileges andpreferences that are associated with the pilot, including access rightsto secure areas of the work environment. The integrated access device ona hand of the robot is programmed to match the access badge of thepilot.

The display monitors on the robot display a selectable combination ofreal-time video of the pilot as in a video conference on a front screenand photographs of the pilot from other vantage points on the otherdisplay screens. The content set of the display screens can be adjusteddepending upon the number of cameras in the station where the pilot islocated.

The robot begins its travel from the fleet management area to the firstfloor meeting room to attend the morning meeting. The pilot couldmanually navigate the robot to the meeting. However, the first pilotdirects the robot to navigate itself to the meeting room autonomouslywhile the pilot prepares for the meeting. The robot enters a“dumbwaiter” elevator that is configured for robot-only use. However,the robot could also have used a conventional passenger elevator. In theelevator, the robot joins other robots which are also beginning theirday in the work environment. Sensors on the robots prevent the robotsfrom colliding in the elevator. At the required floor, the robot exitsthe elevator and begins to move to the meeting room.

On the way to the meeting, the robot through its video camera perceivesa co-worker of the first pilot located at the work environment. Therobot identifies the co-worker as someone with whom the pilot has anopen task related to a shared project to address. Using the augmenteddata channel, a message appears for the first pilot at the userinterface. The message informs the pilot that a co-worker with an openshared task is in the proximity of the robot. The robot providesaugmented information relating to the open shared task to the pilot, whotakes over command and uses the robot for an interaction with theco-worker. The robot uses a speaker to call out the co-worker's namewhile moving to a distance within five feet of the co-worker. In thefirst pilot's voice, the robot expresses a greeting and asks theco-worker if the co-worker has time for a short interaction. The natureof the desired interaction for the shared project is that the pilotneeds to obtain a written approval from the co-worker. The co-workeragrees to the interaction and the robot first projects the document ontoa wall in the work environment hallway so that the co-worker can conducta preliminary review. When the co-worker indicates that she can sign thedocument, the robot prints the document using its onboard printer orcreates a PDF document. The co-worker reviews and physically signs theprinted document or electronically signs the PDF document. If theco-worker has chosen to sign a physical copy, the co-worker thenprovides the signed document to the robot through an onboard scanner.The onboard scanner scans and then stores the document both inelectronic form and in paper form onboard the robot. The pilot prints asigned copy of the document for the co-worker and thanks the co-workerfor the cooperation and then navigates the robot to the meeting room.

Information available on the augmented data channel may include data onnavigation and direction and pathways in a work environment; data onevents and calendaring for the facility; maps, floor plans, passages andavailable rooms and offices in the workspace; and equipment availabilityand locations in the work environment. Available information may alsoinclude names of visitors present in the facility on a particular day;locations and offices of particular people in the work environment;proper names including spelling, titles and reporting structure forpeople in the work environment; employee work history and otherbackground information; social media connections and other data madeavailable on the data channel to facilitate interpersonal interactionsincluding by and through robots with pilots; topical databases such asWIKIPEDIA® sites and online business forums. Further, availableinformation on the augmented data channel may include project-basedinformation such as timelines, access to data files and directories,status, and other materials of interest on a project or matter; meetingand event-related information such as attendees, attendee availability,prior meeting history and related information.

The pilot navigates the robot to arrive at the meeting room and into aplace within the meeting room. The robot arrives at the meeting room andaccording to a protocol enters in a manner not to disrupt or causeunintended interaction with persons attending the meeting. Upon arrival,the robot uses the augmented data channel to identify other attendees byname, title, affiliation and department. Augmented data from thedatabase also allows the pilot to obtain information regardinglocations, work history, job titles and social media information. On thedisplay screen at the user interface of the pilot, the pilot can haveaugmented information for a person displayed upon request or whenever aperson is in the primary field of view of the robot. The robot is“seated” at the table in the meeting room with other persons and robots.The robot reduces its height to a seated height by lowering the positionof its head and torso portions relative to its base portion. The abilityof the robot to express and mimic gestures and facial expressions of thepilot within a range allows the pilot to interact productively with themeeting attendees. The first pilot also has tasked the robot to recordaudio-visual information from the meeting. During the meeting, augmenteddata and information on topical issues and project-based information aremade available to the pilot within the user interface of the pilot.Through its computing device, the robot can also provide a real-timetranscription of the audio portion of the meeting. The transcription ismade available to authorized persons in the meeting room and other robotpilots over the network. Following the end of the meeting, a data file,an audio file and the audio-visual recording from the meeting areuploaded to a database on the network by the robot at the command of thepilot. The pilot is also informed of the names and attendees and contactinformation so that further communications relating to the meeting canbe conducted as needed by the pilot. In attendance at the meeting wasanother robot represented by another off site pilot. The two pilots useda local wireless connection to transmit their contact information toeach other.

The meeting lasted until just before the lunch hour and the first pilotnavigates the robot to a common area adjacent the cafeteria to conductan informal meeting with other persons co-located with the robot. At onepoint during the lunch hour, the first pilot takes a short personalbreak and temporarily leaves the user interface and pilot station, atwhich point the robot indicates by an indicator light and a displaypanel that the pilot is temporarily unavailable. While the first pilotis away, the robot does not conduct any affirmative interactions withpersons in the workspace. However, the robot records audio-visualinformation during the absence of the pilot; a co-worker encounters therobot and interacts with the robot by stating a reminder that the pilotis late with the completion of a promised document. When the pilotreturns to the user interface at the pilot station, the reminder isgiven to the pilot who then adds a note to his calendar.

The robot possesses special functions for special purpose meetings torecord and transcribe meeting information. Such capability includesreal-time recording and transcription of audio and video and otherinformation which is shared with other persons participating in themeeting or event. The robot is configured to function asvideo-conferencing equipment, whereas another robot in the meeting issimply a representative of the pilot-participant. The robot is alsoconfigured for “clean up” of information after a meeting includingrecording the contents of whiteboards, erasing the whiteboards forinformation security purposes, scanning documents and meeting notesrecorded by key people in the meeting, and distributing informationpackets which document meeting contents after the meeting has beencompleted. At the end of the day, the robot returns to the fleetmanagement area and drops off or downloads the information collectedduring the day. Archival records of meetings attended by the robot orother robots in the fleet area stored on a network-connected databaseand made accessible through conventional file access systems for thework environment or enterprise.

The robot is also configured as a wireless network access point andprovides that functionality for nearby persons during the lunch period.After the informal meeting, the first pilot exits the robot. The robotis unoccupied and in a suspended state for a period of time pending theoccupancy by the second pilot. During the time the robot is unoccupied,persons will have an indication of the status of the robot as “vacant”or unoccupied and such persons may use the robot for device-likefunctional purposes. For example, a group of people who want to review aplayback of audio-visual information from the morning meeting can usedisplay screens and speakers on the robot for that purpose. Control ofthe robot functionality can be achieved locally at the robot through acontrol panel or keypad or by a remote device, such as a smart phone,tablet and computer. After a period of time, the robot notifies thepersons that an occupant pilot will be joining in a few minutes. Thisnotification allows the persons to conclude their use of the unoccupiedrobot in time to avoid a delay. The robot navigates itself to a nearbycharging station before the meeting. While the robot is recharging, datafrom the first pilot is uploaded to shared network storage for use andaccess by the pilot and other persons authorized by the pilot.

The second pilot enters as occupant of the robot as scheduled shortlybefore the early afternoon meeting. At that time, the pilot uploadsinformation intended for use by the pilot in subsequent interactions andmeetings. The robot indicates that it is in transition and then assumesthe identity of the next pilot. The pilot has an “immersive” userinterface and WALKSTATION™ treadmill with detectors to record movementsand gestures; the robot is able to transmit and receive enhancedinformation with the pilot from the station in real time. The pilot isdisplayed from each of four vantage points on each of the displaymonitors of the robot. The pilot is also able to receive directionalvideo and directional audio signals in the cockpit of the station.

As the robot leaves the lunch room, it has display screens which projecta 360 degree view of the second pilot. A person in the hallway where therobot is passing notices the robot is occupied by a pilot who the personwishes to have an interaction with regarding project status. The personcalls out to the robot and second pilot occupant to ask whether therobot has time to interact. The directional audio and directional videopresented at the cockpit of the pilot station allows the pilot to becomeaware of the person and their location relative to the robot and tocontrol the robot to allow the interaction. The second pilot issurprised by the requested interaction with the person and expressesthrough the robot the emotion of surprise by facial expression.

During the impromptu meeting, the second pilot is asked a question thatthe pilot is unable to answer. As the pilot expresses an “I don't know”gesture with a shrug and upturned palms and accompanying open facialexpression in real time, the robot mimics and displays the same gesturesand facial expressions. The person in the interaction with the robotexpresses a sentiment of good humor and invites the pilot to relax inresponse to the robot-expressed gestures of the pilot. The pilot seesthe person smile through the video display from the robot camera and inreply, smiles and relaxes. The pilot then expresses the emotion ofrelief and happiness through the robot.

The second pilot then realizes that the impromptu interaction with theperson has made him late for the scheduled meeting. The second pilotbriefly expresses shock and surprise, expresses a quick parting smilethrough the robot, thanks the person and ends the interaction. To get tothe meeting room quickly along a crowded hallway, the robot enters adesignated robot lane in the intended direction. In the crowded hallway,the robot indicates navigational intent using signaling lights as wellas following a path of travel for the robot designated in the hallway.Persons in the robot's path perceive a visual and audible signal fromthe robot and step out of the robot path. The robot is also programmedto avoid collisions and unintended contact with persons while movingalong the crowded hallway.

The second pilot of the robot is on a WALKSTATION™ treadmill which iscalibrated to the robot so that the robot is able to walk at the speedindicated by the person. At this point, the pilot is walking quicklybecause he is late for the meeting. In the pilot station, the pilot'sbody movements, such as turning slightly one way or the other, areperceived and mimicked by the robot. At the meeting room doorway, therobot uses the access device on its hand as a badge to activate asecurity panel to allow the robot to gain access to the meeting room.Meeting room access is the same as would be allowed the pilot if thepilot were physically present in the work environment.

Upon obtaining access to the meeting room, the robot navigates to aspecial position at the conference table. The special position allowsthe robot to dock and charge during the meeting and also access a directdata connection to the network. The robot is also able to connect toancillary local devices including interactive technology devices such asMedia:Scape®, available from Steelcase Inc.

With a facial expression and upturned palms, the second pilot expressesvia the robot his regret at being late for the meeting. Through therobot, the pilot then participates in the meeting. After the meeting,the second pilot exits the robot which is then unoccupied and indicatesa vacant or transition state. When the pilot exited the robot, the robotwas still in a secured area. The robot shuts off audio and visualrecording and autonomously moves itself out of the secured access areainto a common hallway.

In the hallway, the robot experiences a wheel malfunction on its baseportion. An indicator light on the robot begins to flash and is noted bya passing co-worker who stops for an interaction with the robot. Uponreading a signal displayed on a display panel on the robot, theco-worker attempts to diagnose and determine whether the robot can berepaired without requiring a return to the fleet management area. Notingthat the robot will require a mechanical repair, the co-located workeruses the control panel on the robot to send the robot to the fleetmanagement area for repair.

The robot had been scheduled for another meeting in the form of atraining presentation later in the day. The robot scheduling system andfleet management system deploys a different robot in the fleet to serveon behalf of the two pilots in the late afternoon meeting.

The robot is unoccupied and moves autonomously through the workenvironment to the meeting room for the scheduled training presentation.The training presentation is to be given by three persons. Two of thepersons are pilots who each co-occupy the robot from a different stationat different locations. The third person is at yet another location, butwill only participate by video-conferencing technology and will not be apilot of a robot. One pilot is given precedent for physical movement ofthe robot and the other pilot is given a secondary status for command ofthe robot in the event of conflicting commands. At one point in thetraining session, the first pilot turns command over to the secondpilot, who navigates the robot into the aisle of the training room toobserve more closely those being trained. Each of the pilots is able tocollaboratively present audio-visual information to the group attendingthe training session; the other person is able to interchangeaudio-visual information with the group. All of the persons giving thetraining are able to interact in real-time.

During the meeting, the robot takes attendance of attendees and uploadsthe attendance information to a database. As attendees ask questionsduring the training session, the pilots can use an augmented datachannel facilitated by the robotic telepresence system to obtain topicalinformation to help them answer the questions. After the questions havebeen answered, the pilots are able to store and upload into a data filethe question and answer content recorded through the robot as part of afrequently asked question database. The training session is alsorecorded under the control of the robot for future reuse andrebroadcast.

At the close of the training session, each of the pilots completes theirdata interchange through the robot and then exits the robot. The robothas ended its workday. The fleet management system then commands therobot over the wireless network to return autonomously to the fleetmanagement area for overnight charging and a routine inspection by fleetmanagement staff. Each robot in the fleet is also scheduled for periodicmaintenance to ensure maximum uptime for the fleet at the workenvironment. The robot enters the elevator and makes its way back to thefleet management area into a racking system for the overnight period;documents or materials stowed with the robot are removed and placed forproper keeping. The fleet management system makes note of robots thatare damaged and unavailable for service. A repair team will fix robotsthat need repair. Updates and upgrades may also be implemented orinstalled for the robots. The robot scheduling system can conductverifications and modifications to ensure proper deployment of the robotfleet during the next day of service.

The next morning, each available robot is ready for another day ofservice. Each day of operation of a robot in the robotic telepresencesystem may present different uses and demands.

Referring to FIG. 22, a system includes a video conferencing environment102 which is electronically coupled over a network connection to asecond video conferencing environment having a substantially similarconfiguration to permit transmission of images and sound betweenenvironments. Alternatively, more than two video conferencingenvironments can be mutually electronically coupled. Although the systemis disclosed in terms of two video conferencing environments in a pointto point communication, it is to be understood that the concepts andfeatures discussed herein may also apply to more than multipleenvironments engaged in a multi-point conference. Each environment 102includes a viewing device 104, a primary polarizing filter 106, aviewing area 108, at least one light source 110, and one or moresecondary polarizing filters 112 between the at least one light sourceand the viewing device.

The viewing device 104 includes a screen 114 and a camera 116. Thescreen 114 is typically positioned at the front of the videoconferencing environment 102, however it can be positioned anywhere inthe room. The screen 114 can be fixed or movable and can be any type ofscreen including, but not limited to, a flat screen, a widescreen, aplasma or LCD display, a projection screen including a projector, and atelevision. The screen 114 may be any size or geometry and any techniqueknown in the art for projecting an image onto the screen may be used.

The camera 116 can be fixed relative to the environment 102 or movable.When fixed, the camera 116 is typically positioned above or in closeproximity to the screen 114 and positioned at a fixed angle and distancefrom a meeting participant in the viewing area 108 which allowsacceptable levels of eye contact between the meeting participant and aremote viewer. However, the camera 116 may be positioned anywhere in theenvironment 10. Further, the environment may include more than onecamera 116 positioned at various locations within the viewing area 108.Preferably, the camera 116 includes an electronically controlled irislens and zoom capabilities.

The environment 102 also includes a primary polarizing filter 106 and atleast one secondary polarizing filter 112. Although the primarypolarizing filter 106 and secondary polarizing filter 112 are shown asvertically or horizontally polarized, these filters may have anyorientation. Also, circular and elliptical polarized filters may beused. The primary polarizing filter 106 is typically adjustably attachedto the camera 116. Where the environment 102 includes more than onecamera 116, each camera may include a primary polarizing filter 106. Asillustrated in FIG. 22, the primary polarizing filter 106 is rotatablyadjustable through 90 degrees as indicated by arrow 118. The primarypolarizing filter 106 can be adjusted to reduce the intensity of a lightsource 110 as seen by the remote viewer. The at least one secondarypolarizing filter 112 is positioned between the light source 110 and theviewing device 104. One or more of the polarizing filters can beadjusted to vary the light source 110 visible to a remote viewer as seenby the camera 116. Specifically, it is contemplated that the primarypolarizing filter 106, the secondary polarizing filter 112, or bothfilters can be rotated. At least one of the polarizing filters can beadjusted remotely.

The viewing area 108 may be an enclosed room or dedicated area such as ameeting room 18. Although FIGS. 22-33 illustrate a video conferencingenvironment 102 in an office setting, it is contemplated that theinventive concepts disclosed herein can also be used in other settingsincluding but not limited to: consumer environments, education settings,medical consultation settings and generally any setting where at leastone participant is remote. Typically, the viewing area 108 includes aprimary seating area with one or more chairs 120 and a table 122 havinga horizontal surface 124. The number of chairs 120 positioned around thetable 122 depends on the size of the horizontal table surface 124, buttypically more than one chair is positioned around the table. The videoconferencing environment 102 may also include secondary seating (notshown) positioned at the rear of the environment behind the primaryseating area to allow for additional meeting participants. The secondaryseating may include, but is not limited to, chairs, a bench or a couch.

The light source 110 is remote from the viewing device 104 and may bevisible or invisible to remote participants in a video conferencingsystem. Visible light sources 110 include natural light, glare,reflected light, and electrically generated light including, but notlimited to, a light bulb or a display screen. Light sources not visibleto the human eye include far-infrared, mid-infrared and near-infraredradiation. An example of a suitable infrared lighting system used in avideo conferencing environment 102 is disclosed in U.S. Pat. No.7,893,953 (Ser. No. 11/424,967), entitled “Video Conferencing LightingSystem,” the disclosure of which is herein incorporated by reference inits entirety. The light source 110 may be located anywhere in the videoconferencing environment 102.

As illustrated in FIGS. 22 and 22A-D, the light source 110 can be lightenergy radiating through a window 126 from natural outside exposure. Inthis embodiment, the secondary polarizing filter 112 is adjacent to thewindow 126. The secondary polarizing filter 112 may be a thin film suchas, but not limited to, a sheet of polarizing laminated film adhered toan inside surface of the window 126. Referring to FIG. 22A, when therelative angle between the molecular orientation of the primarypolarizing filter 106 and the secondary polarizing filter 112 is zero,maximum transmission of the outside light energy radiates through thewindow 126. The light coming through the window can interfere with theauto iris lens of the camera resulting in participants appearing washedout or overly dark. Likewise, buildings, trees, passing motoristsvisible through the window can be distracting to remote participants.Now referring to FIGS. 22B and 22C, as the primary polarizing filter 106is rotated from a relative angle of 0 degrees towards 90 degrees, glarecaused by light radiating through window 126 and the visibility ofoutside objects are decreased. As illustrated in FIG. 22D, when therelative angle is 90 degrees, minimum transmission of the light energyoccurs, the window 126 appears opaque and outside objects are no longervisible to the remote viewer.

FIG. 23 illustrates an alternative embodiment of the video conferenceenvironment 102 where the light source 110 is a light bulb. A secondarypolarizing filter 112 includes a polarizing glaze or material positionedproximate to or around the light bulb. Referring to FIG. 23A, when therelative angle between the molecular orientation of the primarypolarizing filter 106 and the secondary polarizing filter 112 is zero,maximum transmission of the light energy from the light bulb radiatesthrough the polarizing material proximate to or surrounding the bulb.When the primary polarizing filter 106 is rotated from a relative angleof 0 degrees towards 90 degrees, the light intensity emanating from thebulb decreases. As illustrated in FIG. 23B, when the relative angle is90 degrees, minimum transmission of the light energy occurs and lightcan no longer be seen by the remote viewer.

FIG. 24 illustrates yet another alternative embodiment of the videoconference environment 102. In this embodiment, the light source 110 isglare from natural or electrically generated light reflecting off ahorizontal surface, such as the horizontal surface 124 of a table 112 inthe viewing area 104. Glare is especially problematic when thehorizontal surface 124 is white or very light colored. The secondarypolarizing filter 112 can include, but is not limited to; a polarizedfilm adhered to the horizontal surface 124, variable texture on thehorizontal surface, and polarized surface materials such as carbonfilter and mica.

Referring to FIG. 24A, when the relative angle between the molecularorientation of the primary polarizing filter 106 and the secondarypolarizing filter 112 is zero, maximum transmission of the glare orreflection off the horizontal surface 124 occurs. When the primarypolarizing filter 106 is rotated towards 90 degrees, the glare orreflected light decreases. As illustrated in FIG. 24B, when the relativeangle is 90 degrees, minimum transmission of the light energy occurs andthe horizontal surface appears darkened.

The light source 110 can also be glare from natural or electricallygenerated light reflecting off a vertical surface 128, such asillustrated in FIG. 25. The vertical surface 128 can include, but is notlimited to, a white or very light colored wall or display and a whiteboard. Similarly to a horizontal surface, the secondary polarizingfilter 112 can include polarized film, variable texture on the verticalsurface 128, and polarized surface materials such as carbon filter andmica.

Referring to FIG. 25A, when the relative angle between the molecularorientation of the primary polarizing filter 106 and the secondarypolarizing filter 112 is zero, there is maximum transmission of theglare or reflection off the vertical surface 128. When the primarypolarizing filter 106 is rotated towards 90 degrees, the glare orreflected light decreases. As illustrated in FIG. 25B, when the relativeangle is 90 degrees, minimum transmission of the light energy occurs andthe vertical surface appears darkened.

FIGS. 26 and 26A-D illustrate yet another embodiment of the videoconferencing environment 102. In this embodiment, the polarizing filtersallow a remote viewer to filter unwanted images from retransmission.Similar to the embodiment illustrated in FIGS. 25, 25A and 25B, lightsource 110 emanates from a vertical surface. However, in FIGS. 26 and26A-D the vertical surface is an LCD or LED display 130. LCD displaysgenerally include two sheets of polarized glass plates with a thin layerof liquid crystal solution sandwiched between them. Polarized LEDdisplays are also available. In this embodiment, the LCD or LED display130 includes the secondary polarizing filter 112 and a separate filteris not needed. As shown in FIG. 26, the LCD or LED display 130 on theleft includes a horizontally polarized secondary filter 112, while thedisplay on the right includes a vertically polarized secondary filter.The primary filter 106 is initially in a horizontal orientation. Whenthe relative angle between the molecular orientation of the primarypolarizing filter 106 and the secondary polarizing filter 112 in theleft side LCD or LED display 130 is zero, maximum transmission of lightenergy occurs as illustrated in FIG. 26A. When the primary polarizingfilter 106 is rotated towards 90 degrees, images on the left sidedisplay are dimmed. As illustrated in FIG. 26B, when the relative angleis 90 degrees, minimum transmission of the light energy from the leftside LCD or LED display 130 occurs and the images on the left sidedisplay disappear. Visibility of images on the right side LCD or LEDdisplay 130 are opposite those on the left side display because theorientation of secondary polarizing filters 112 are perpendicularrelative to each other.

The secondary polarizing filters 112 allow LCD and LED displays 130 tobe positioned directly in view of the camera 116 without compromisingthe performance of the camera auto iris and maintaining high videoquality. For example, in FIG. 26C, images on an LCD or LED display 130are overly bright and appear distorted. Referring to FIG. 26D, as theprimary polarizing filter 106 is rotated from a relative angle of 0degrees towards 90 degrees, distortion of the images is decreased.

In some applications, a video conferencing environment 102 could belocated such that the local participants do not want the remoteparticipants to be able to view materials or people outside the viewingarea 108 of the video conferencing environment 102 or meeting room 18.For example, the video conferencing environment could be located withthe product development area of a company and the participants may beconducting a video conference about a particular item in developmentwith an outside party. It is important to maintain confidentiality andtherefore to ensure the outside participant cannot see people orartifacts outside the video conferencing environment 102 or meeting room18. If the video conferencing environment or meeting room had windowsinto the confidential spaces, these windows could be covered with thesecondary polarizing filters 112 and the primary polarizing filter 106could be rotated so the molecular structure of the primary filter 106and the secondary filter 112 are at 90 degrees. In this manner, theoutside participant in the video conference would be prohibited fromviewing confidential materials that might be outside the videoconferencing environment 102 or meeting room 18. This is illustrated inFIGS. 27, 27A and 27B showing another embodiment of the videoconferencing environment 102 using a secondary polarizing filter 112adjacent a vertical light source 110. In FIG. 27, the video conferencingenvironment 102 shares a wall with an adjoining room 132. The adjoiningroom 132 can be used as a conference room, a hallway, or a second videoconferencing environment. As illustrated in FIG. 27, the videoconferencing environment 102 is separated from the adjoining room 132 bya wall, screen, partition or other divider 134 including translucentpanels, such as glass. Referring to FIG. 27A, when the relative anglebetween the molecular orientation of the primary polarizing filter 106and the secondary polarizing filter 112 adjacent the divider 134 iszero, maximum transmission of the light energy is emitted through thedivider from the adjoining room 132. When the primary polarizing filter106 is rotated towards 90 degrees, the translucent panel in divider 134becomes opaque. As illustrated in FIG. 27B, when the relative angle is90 degrees, minimum transmission of the light energy emitting throughthe translucent panel in divider 134 from the adjoining room 132 occursand objects in the adjoining room are no longer visible to a remoteviewer.

A secondary polarizing filter 112 can also be applied in patterns toprovide branding or watermarking opportunities in the video conferencingenvironment 102. For example, in FIG. 28, the secondary polarizingfilter 112 is positioned in a pattern including a band 136 around aperiphery of the table 122 horizontal surface 124 and a circle 138adjacent the band 136. When the relative angle between the molecularorientation of the primary polarizing filter 106 and the secondarypolarizing filter 112 having a band 136 and circle 138 pattern is zero,maximum transmission of the light energy reflecting off the horizontalsurface 124 occurs and the pattern is not visible, as illustrated inFIG. 28A. When the primary polarizing filter 106 is rotated towards 90degrees, the band 136 and circle 138 pattern becomes visible. Asillustrated in FIG. 28B, when the relative angle is 90 degrees, minimumtransmission of the light energy reflecting off the horizontal surface124 occurs and the band 136 and circle 138 pattern is clearly visible toa remote viewer.

Another example is illustrated in FIGS. 29, 29A and 29B. First referringto FIG. 29, the secondary polarizing filter 112 is positioned on thehorizontal surface 124 in a recognizable or addressable pattern, such asa word 140. When the relative angle between the molecular orientation ofthe primary polarizing filter 106 and the secondary polarizing filter112 having in a recognized or addressable pattern is zero, maximumtransmission of the light energy reflecting off the horizontal surface124 occurs and the pattern is not visible, as illustrated in FIG. 29A.When the primary polarizing filter 106 is rotated towards 90 degrees,the pattern becomes visible. Now referring to FIG. 29B, when therelative angle is 90 degrees, minimum transmission of the light energyreflecting off the horizontal surface 124 occurs and the pattern 140 isclearly visible to the remote viewer. As illustrated in FIG. 29B, thesecondary polarizing filter 112 can be positioned on a horizontal orvertical surface.

Yet another embodiment of the video conferencing environment 102 isillustrated in FIG. 30. In this embodiment, the secondary polarizingfilter 112 is in the pattern of a matrix barcode 142 and is positionedsomewhere within the video conferencing environment 102 or meeting room18 in view of the camera 116. Referring to FIG. 30A, when the relativeangle between the molecular orientation of the primary polarizing filter106 and the secondary polarizing filter 112 in the form of a matrixbarcode 142 is zero, maximum transmission of the light energy occurs andthe barcode is not visible. When the primary polarizing filter 106 isrotated towards 90 degrees, the barcode 142 becomes visible to a remoteviewer. The viewing device 12 in the remote location can read the matrixbarcode 142 and convert it to a URL directing a browser associated withthe viewing device 12 to an augmentation application. For example, asillustrated in FIG. 30B, the augmentation application provides aninformation display identifying the room, the guest speaker andattendees.

As discussed above, the camera 116 may be positioned anywhere in thevideo conferencing environment 102. As illustrated in FIG. 31, thecamera 116 can be embedded in the screen 114, which allows improved eyecontact between participants. The camera 116 can be separate from thescreen 114 or incorporated into pixels in the screen. However, light 110projected from a projector 144 in the video conferencing environment 102would interfere with the camera 116. Referring to FIGS. 31A and 31B, toprevent interference, a secondary polarizing filter 112 can bepositioned adjacent the projector 144. When the relative angle betweenthe molecular orientation of the primary polarizing filter 106 and thesecondary polarizing filter 112 is zero, maximum transmission of thelight energy emanating from the projector 144 occurs and the automaticiris adjusts for the bright light making it difficult for the remoteviewer to see the conference, as illustrated in FIG. 31A. Now referringto FIG. 31B, when the relative angle is 90 degrees, minimum transmissionof the light energy emanating from the projector 144 occurs and a remoteviewer 146 can see the other participant clearly.

The robotic telepresence system described herein may also use polarizingfilters to provide selective control over the visibility of informationand artifacts accessible to a robot in the work environment. In thisembodiment, the camera location is not fixed but rather is mobile.Specifically the camera is attached to a robot or other transitoryartifact or person. Referring to FIG. 32, a meeting room 18 includes atleast one light source 110 and one or more secondary polarizing filters112. The robot 10 includes a camera 66 having an electronicallycontrolled iris lens and zoom capabilities. As illustrated in FIG. 6,the camera 66 also includes a primary polarizing filter 148. Althoughthe primary polarizing filter 148 in FIG. 6 and the secondary polarizingfilter 112 in FIG. 32 are shown as horizontally and verticallypolarized, respectively, these filters may have any orientation. Also,circular and elliptical polarized filters may be used. The primarypolarizing filter 148 is typically adjustably attached to the camera 66.The primary polarizing filter 148 is typically rotatably adjustableabout a horizontal or vertical axis. In one embodiment, the primarypolarizing filter 148 is rotatably adjustable about a horizontal axisthrough 90 degrees as indicated by arrow 150. The at least one secondarypolarizing filter 112 is positioned between the light source 110 and thecamera 66 on the robot 10. The secondary polarizing filter 112 may be athin film such a sheet of polarizing laminated film adhered to a side ofa window 28 or 126. One or more of the polarizing filters 148, 112 canbe adjusted to vary the light source 110 visible to the pilot 14 as seenby the camera 66. Specifically, it is contemplated that the primarypolarizing filter 148, the secondary polarizing filter 112, or bothfilters can be rotated. At least one of the polarizing filters can beadjusted remotely.

The light source 110 is remote from the camera 66 and may be visible orinvisible to the pilot 14 or other persons 16 in the meeting room 18.Visible light sources include natural light, glare and reflected light.For example, the light source 110 can be light energy radiating througha window from natural outside exposure, as illustrated in FIG. 32, orthrough an inside window as illustrated in FIGS. 2 and 33. Visible lightsources also include electrically generated light such as a light bulbor a display screen. The light source 110 can also be glare from naturalor electrically generated light reflecting off a vertical surface. Thevertical surface can include, but is not limited to, a white or verylight colored wall or display and a white board. The secondarypolarizing filter 112 can include polarized film, variable texture onthe vertical surface, and polarized surface materials such as carbonfilter and mica. The light source 112 may be located anywhere in themeeting room 18.

As noted above, polarizing filters 148, 112 allow the system and persons16 co-located with the robot 10 to filter unwanted images fromretransmission. As illustrated in FIG. 34, the light source 110 emanatesfrom a vertical surface. Specifically, the vertical surface is an LCD orLED display 130 including the secondary polarizing filter 112. As shownin FIG. 34, the LCD or LED display 130 on the left includes ahorizontally polarized secondary filter 112, while the display on theright includes a vertically polarized secondary filter. The primaryfilter 148 is initially in a horizontal orientation. When the relativeangle between the molecular orientation of the primary polarizing filter148 and the secondary polarizing filter 112 in the left side LCD or LEDdisplay 130 is zero, maximum transmission of light energy occurs asillustrated in FIG. 26A. When the primary polarizing filter 148 isrotated towards 90 degrees, images on the left side display 130 aredimmed. As illustrated in FIG. 26B, when the relative angle is 90degrees, minimum transmission of the light energy from the left side LCDor LED display 130 occurs and the images on the left side displaydisappear. Visibility of images on the right side LCD or LED display 130are opposite those on the left side display because the orientation ofsecondary polarizing filters 112 are perpendicular relative to eachother.

The primary polarizing filter 148 may be manually adjusted by a person16 co-located with a robot 10 to reduce the intensity of a light source110 as seen by the pilot 14. The pilot 14 may also be capable ofadjusting the primary polarizing filter 148 to a limited degree toimprove visibility of an image. The secondary polarizing filters 112allow LCD and LED displays 130 to be positioned directly in view of thecamera 66 without compromising the performance of the camera auto iriswhile still maintaining high video quality. For example, in FIG. 26C,images on the right side LCD or LED display 130 are overly bright andappear distorted. Referring to FIG. 26D, as the primary polarizingfilter 148 is rotated from a relative angle of 0 degrees towards 90degrees, distortion of the images on the right side LCD or LED display130 is decreased.

For confidentiality reasons, the system or persons 16 co-located withthe robot 10 may not want the pilot 14 to view certain information orartifacts outside the meeting room 18. Likewise, the system may not wanta pilot 14 to see into meeting rooms 18 as the robot 10 it occupiestravels through a hallway 20. This maintains confidentiality andtherefore ensures that the pilot 14 cannot see information or artifactsinside or outside the meeting rooms 18 that the pilot does not havepermissions to see. If a meeting room has one or more windows 28 into ahallway 20 or other confidential spaces, these windows could be coveredwith the secondary polarizing filters 112 and the primary polarizingfilter 148 could be rotated so the molecular structure of the primarypolarizing filter and the secondary polarizing filter are at 90 degrees.In this manner, the pilot 14 would be prohibited from viewingconfidential materials that might be inside meeting rooms 18 it passesin the hallway 20 or in adjoining meeting rooms 132. This is illustratedin FIG. 33. In FIG. 33, the meeting room 18 shares a wall 134 with anadjoining room 132. The adjoining room 132 can be used as a conferenceroom, a hallway, or a second robotic telepresence environment. Asillustrated in FIG. 33, the meeting room 18 is separated from theadjoining room 132 by a wall, screen, partition or other divider 134including translucent panels, such as glass. Referring to FIG. 27A, whenthe relative angle between the molecular orientation of the primarypolarizing filter 148 and the secondary polarizing filter 112 adjacentthe divider 134 is zero, maximum transmission of the light energy isemitted through the divider from the adjoining room 132. When theprimary polarizing filter 148 is rotated towards 90 degrees, thetranslucent panel in the divider 134 becomes opaque. As illustrated inFIG. 27B, when the relative angle is 90 degrees, minimum transmission ofthe light energy emitting through the translucent panel in the divider134 from the adjoining room 132 occurs and objects in the adjoining roomare no longer visible to the pilot 14.

Selective control over a robot's visibility of information and artifactsin a work environment is preferably managed by the robotic telepresencesystem operating in conjunction with a room-specific scheduling systemsuch as the commercial ROOMWIZARD® systems sold by Steelcase Inc.Preferably, the robotic telepresence system is integrated with thescheduling system and is aware of the physical location of whiteboards,display screens, window, other light sources, artifacts or objects.Physical locations may be identified by barcode, RFID or otherelectronic trigger affixed or embedded in equipment or fixtures in thework environment. Depending on the permissions of the pilot, the systemrotates the primary polarizing filter 148 to selectively block outwhiteboards, display screens, window, other light sources, artifacts orobjects as the robot 10 moves the camera 66 or moves around the meetingroom 18 or video conferencing environment 102.

It is important to note that the construction and arrangement of theelements of the inventions as described in system and method and asshown in the figures above is illustrative only. Although someembodiments of the present inventions have been described in detail inthis disclosure, those skilled in the art who review this disclosurewill readily appreciate that many modifications are possible withoutmaterially departing from the novel teachings and advantages of thesubject matter recited. Other substitutions, modifications, changes andomissions are made in the design, variations in the arrangement orsequence of process or method steps, operating conditions andarrangement of the preferred and other exemplary embodiments are alsopossible without departing from the spirit of the present inventions.Accordingly, all such modifications are intended to be included withinthe scope of the present inventions.

The invention claimed is:
 1. A system for controlling visibility ofinformation in an enclosed work environment, the system comprising: oneor more polarized electronic screens located within the enclosed workenvironment, wherein the one or more polarized electronic screens have afirst direction of polarization and wherein information displayed on theone or more polarized electronic screens is visible to a person insidethe enclosed work environment; one or more polarized non-electronicsurfaces located within the enclosed work environment, wherein the oneor more polarized non-electronic surfaces have a direction ofpolarization substantially aligned with the first direction ofpolarization of the one or more polarized electronic screens and whereininformation displayed on the one or more polarized non-electronicsurfaces is visible to the person inside the enclosed work environment;wherein the enclosed work environment is enabled to allow for a personto have a view within the work environment including viewing of the oneor more polarized electronic screens and non-electronic surfaces fromoutside of the enclosed work environment; and a polarizing filterpositioned proximate to and extending across a camera lens, wherein thepolarizing filter has a second direction of polarization and wherein thesecond direction of polarization is arranged at an angle to the firstdirection of polarization; wherein a person outside of the enclosed workenvironment can see inside of the enclosed work environment through thecamera lens, but has a similarly altered view of the information on theone or more polarized electronic displays and one or more polarizednon-electronic surfaces.
 2. The system of claim 1, wherein the cameralens is operably connected to a video conferencing system.
 3. A systemfor controlling visibility of information in an enclosed workenvironment, the system comprising: one or more polarized emissivescreens located within the enclosed work environment, wherein the one ormore polarized emissive screens have a first direction of polarizationand wherein information displayed on the one or more polarized emissivescreens is visible to a person inside the enclosed work environment; oneor more polarized non-emissive surfaces located within the enclosed workenvironment, wherein the one or more polarized non-emissive surfaceshave a direction of polarization substantially aligned with the firstdirection of polarization of the one or more polarized emissive screensand wherein information displayed on the one or more polarizednon-emissive surfaces is visible to the person inside the enclosed workenvironment; wherein the enclosed work environment comprises at leastone substantially transparent window which permits viewing of the one ormore polarized emissive screens and non-emissive surfaces from outsideof the enclosed work environment; and a polarizing filter positionedproximate to and extending across the at least one substantiallytransparent window, wherein the polarizing filter has a second directionof polarization and wherein the second direction of polarization isarranged at an angle to the first direction of polarization; wherein aperson outside of the enclosed work environment can see inside of theenclosed work environment through the transparent window, but has asimilarly altered view of the information on the one or more polarizedemissive displays and one or more polarized non-emissive surfaces. 4.The system of claim 3, wherein the one or more polarized emissivescreens comprise a display screen.
 5. The system of claim 4, wherein thedisplay screen comprises an LCD or LED display.
 6. The system of claim 4further comprising a network connected to the one or more emissivedisplay screens.
 7. The system of claim 3, wherein the one or morepolarized non-emissive surfaces comprise a vertical surface.
 8. Thesystem of claim 7, wherein the vertical surface comprises a whiteboard.9. The system of claim 3, wherein the second direction of polarizationis oriented substantially perpendicular to the first direction ofpolarization.
 10. A system for preventing visibility of information inan enclosed room, the system comprising: at least one polarizedelectronic display screen located within the enclosed room, wherein theat least one polarized electronic display screen includes a firstdirection of polarization; at least one polarized non-electronicwhiteboard located within the enclosed room, wherein the at least onepolarized non-electronic whiteboard includes a direction of polarizationsubstantially aligned with the first direction of polarization of theone or more polarized electronic display screens; wherein the enclosedroom comprises at least one substantially transparent window for viewingof the at least one polarized electronic display screen andnon-electronic whiteboard from outside of the enclosed room; and apolarizing filter positioned proximate to and extending across the atleast one substantially transparent window, wherein the polarizingfilter has a second direction of polarization, and wherein the seconddirection of polarization is arranged at an angle to the first directionof polarization; wherein a person outside of the enclosed room cannotsee information on the at least one polarized electronic display screenand polarized non-electronic whiteboard.
 11. The system of claim 10,wherein information displayed on the at least one polarized electronicdisplay screen is visible to a person inside the enclosed room.
 12. Thesystem of claim 11, wherein the display screen comprises an LCD or LEDdisplay.
 13. The system of claim 12 further comprising a networkconnected to the LCD or LED display.
 14. The system of claim 11, whereinthe information displayed on the at least one polarized non-electronicwhiteboard is visible to a person inside the enclosed room.
 15. Thesystem of claim 14, wherein the second direction of polarization isoriented substantially perpendicular to the first direction ofpolarization.
 16. The system of claim 15, wherein the polarizing filtercompletely covers the at least one substantially transparent window. 17.The system of claim 16, wherein the enclosed room is a conference room.18. The system of claim 17 further comprising a network connected to theLCD or LED display.
 19. The system of claim 15, wherein the polarizingfilter partially covers the at least one substantially transparentwindow.
 20. The system of claim 19, wherein the enclosed room is aconference room.